diff --git a/conf/settings/basic_infrared.xml b/conf/settings/basic_infrared.xml
deleted file mode 100644
index 7de7a7c5df..0000000000
--- a/conf/settings/basic_infrared.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation with IR sensors (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="Infrared">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll neutral" module="subsystems/sensors/infrared" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch neutral" module="subsystems/sensors/infrared" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad"  alt_unit="deg"/>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/basic_ins.xml b/conf/settings/basic_ins.xml
deleted file mode 100644
index 70ee43a5f8..0000000000
--- a/conf/settings/basic_ins.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation with IMU (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="ins">
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/booz2_fms_ts.xml b/conf/settings/booz2_fms_ts.xml
deleted file mode 100644
index 57d1042cad..0000000000
--- a/conf/settings/booz2_fms_ts.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<settings>
-  <dl_settings>
-
-    <dl_settings NAME="FMS_TS">
-        <dl_setting var="fms.enabled" min="0" step="1" max="1" module="booz_fms" shortname="enabled" values="OFF|ON" handler="SetEnabled">
-        <strip_button name="FMS ON" icon="on.png" value="1"/>
-        <strip_button name="FMS OFF" icon="off.png" value="0"/>
-      </dl_setting>
-      <dl_setting var="fms_test_signal.period" min="1" step="1" max="1024" module="fms/booz_fms_test_signal" shortname="period" handler="SetPeriod"/>
-<!--      <dl_setting var="booz_fms_test_signal_amplitude" min="0" step="100" max="183000" module="booz2_fms_test_signal" shortname="amplitude"/> -->
-      <dl_setting var="fms_test_signal.mode" min="0" step="1" max="2" module="fms/booz_fms_test_signal" shortname="mode" handler="SetMode" values="STEP ROLL|STEP PICTH|STEP YAW"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
\ No newline at end of file
diff --git a/conf/settings/control/gyro.xml b/conf/settings/control/ctl_rate.xml
similarity index 100%
rename from conf/settings/control/gyro.xml
rename to conf/settings/control/ctl_rate.xml
diff --git a/conf/settings/control/rotorcraft_stabilization_att_int_quat.xml b/conf/settings/control/stabilization_att_int_quat.xml
similarity index 100%
rename from conf/settings/control/rotorcraft_stabilization_att_int_quat.xml
rename to conf/settings/control/stabilization_att_int_quat.xml
diff --git a/conf/settings/control/rotorcraft_stabilization_rate.xml b/conf/settings/control/stabilization_rate.xml
similarity index 100%
rename from conf/settings/control/rotorcraft_stabilization_rate.xml
rename to conf/settings/control/stabilization_rate.xml
diff --git a/conf/settings/estimation/ahrs_float_dcm.xml b/conf/settings/estimation/ahrs_float_dcm.xml
new file mode 100644
index 0000000000..8dcdc48727
--- /dev/null
+++ b/conf/settings/estimation/ahrs_float_dcm.xml
@@ -0,0 +1,16 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<!-- A conf to use to tune a new A/C -->
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="ins">
+      <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
+      <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
+      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
+      <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>
diff --git a/conf/settings/basic.xml b/conf/settings/fixedwing_basic.xml
similarity index 94%
rename from conf/settings/basic.xml
rename to conf/settings/fixedwing_basic.xml
index 2ecedc22b3..ad42a3e7cb 100644
--- a/conf/settings/basic.xml
+++ b/conf/settings/fixedwing_basic.xml
@@ -8,7 +8,7 @@
       <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
       <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
       <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="estimator"/>
+      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
       <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
         <strip_button icon="circle-right.png" name="Circle right" value="1"/>
         <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
diff --git a/conf/settings/tuning.xml b/conf/settings/fixedwing_tuning.xml
similarity index 94%
rename from conf/settings/tuning.xml
rename to conf/settings/fixedwing_tuning.xml
index cd01556f46..f827cd4010 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/fixedwing_tuning.xml
@@ -59,9 +59,8 @@
         <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
         <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
         <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
+        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
+        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
         <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
diff --git a/conf/settings/joystick.xml b/conf/settings/joystick.xml
deleted file mode 100644
index 75fb4a15ad..0000000000
--- a/conf/settings/joystick.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<settings>
-  <dl_settings NAME="joystick">
-      <dl_setting MAX="1" MIN="-1" STEP="0.01" module="joystick" VAR="joystick_x" />
-      <dl_setting MAX="1" MIN="-1" STEP="0.01" module="joystick" VAR="joystick_y" />
-  </dl_settings>
-</settings>
diff --git a/conf/settings/lisa.xml b/conf/settings/lisa.xml
deleted file mode 100644
index 8fd1c470a0..0000000000
--- a/conf/settings/lisa.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use for standard operation (no tuning) -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="360" MIN="0" STEP="1" VAR="nav_course"/>
-      <dl_setting MAX="10" MIN="-10" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time" module="autopilot" handler="ResetFlightTimeAndLaunch"/>
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-	<key_press key="greater" value="1"/>
-	<key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="estimator" values="MANUAL|AUTO1|AUTO2|HOME|NOGPS|FAILSAFE">
-      </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch">
-      </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
-      </dl_setting>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-  </dl_settings>
-</settings>
diff --git a/conf/settings/servo_switch.xml b/conf/settings/modules/servo_switch.xml
similarity index 88%
rename from conf/settings/servo_switch.xml
rename to conf/settings/modules/servo_switch.xml
index 7bede7e51a..fe29a120c9 100644
--- a/conf/settings/servo_switch.xml
+++ b/conf/settings/modules/servo_switch.xml
@@ -1,4 +1,4 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
+<!DOCTYPE settings SYSTEM "../settings.dtd">
 
 <settings>
   <dl_settings NAME="Servo switch control">
diff --git a/conf/settings/rotorcraft_vi.xml b/conf/settings/modules/vehicle_interface.xml
similarity index 89%
rename from conf/settings/rotorcraft_vi.xml
rename to conf/settings/modules/vehicle_interface.xml
index 0371531591..606d83c72b 100644
--- a/conf/settings/rotorcraft_vi.xml
+++ b/conf/settings/modules/vehicle_interface.xml
@@ -1,3 +1,5 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
 <settings>
   <dl_settings>
 
diff --git a/conf/settings/motor_bench_settings.xml b/conf/settings/motor_bench.xml
similarity index 100%
rename from conf/settings/motor_bench_settings.xml
rename to conf/settings/motor_bench.xml
diff --git a/conf/settings/nova_settings.xml b/conf/settings/nova_settings.xml
deleted file mode 100644
index aacfa026b2..0000000000
--- a/conf/settings/nova_settings.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<settings>
-  <dl_settings>
-
- </dl_settings>
-</settings>
diff --git a/conf/settings/switch.xml b/conf/settings/power_switch.xml
similarity index 100%
rename from conf/settings/switch.xml
rename to conf/settings/power_switch.xml
diff --git a/conf/settings/tuning_rc.xml b/conf/settings/rc_settings_infrared.xml
similarity index 100%
rename from conf/settings/tuning_rc.xml
rename to conf/settings/rc_settings_infrared.xml
diff --git a/conf/settings/tuning_ins_rc.xml b/conf/settings/rc_settings_ins.xml
similarity index 100%
rename from conf/settings/tuning_ins_rc.xml
rename to conf/settings/rc_settings_ins.xml
diff --git a/conf/settings/rotorcraft_actuators_asctec.xml b/conf/settings/test_actuators_asctec.xml
similarity index 100%
rename from conf/settings/rotorcraft_actuators_asctec.xml
rename to conf/settings/test_actuators_asctec.xml
diff --git a/conf/settings/booz2_test_motors_hexa.xml b/conf/settings/test_booz2_motors_hexa.xml
similarity index 100%
rename from conf/settings/booz2_test_motors_hexa.xml
rename to conf/settings/test_booz2_motors_hexa.xml
diff --git a/conf/settings/actuators.xml b/conf/settings/test_fixedwing_actuators.xml
similarity index 100%
rename from conf/settings/actuators.xml
rename to conf/settings/test_fixedwing_actuators.xml
diff --git a/conf/settings/lisa_test_boards.xml b/conf/settings/test_lisa_board.xml
similarity index 100%
rename from conf/settings/lisa_test_boards.xml
rename to conf/settings/test_lisa_board.xml
diff --git a/conf/settings/settings_test.xml b/conf/settings/test_settings.xml
similarity index 100%
rename from conf/settings/settings_test.xml
rename to conf/settings/test_settings.xml
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml
deleted file mode 100644
index a5c19d6133..0000000000
--- a/conf/settings/tuningJH.xml
+++ /dev/null
@@ -1,91 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-        <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
-      </dl_setting>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="infrared">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral"            shortname="roll_neutral"  param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" module="subsystems/sensors/infrared" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral"           shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.lateral_correction"      shortname="lat_corr"      param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.longitudinal_correction" shortname="log_corr"      param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"   VAR="infrared.vertical_correction"     shortname="vert_corr"     param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left"           shortname="corr_left"     param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right"          shortname="corr_right"    param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up"             shortname="corr_up"       param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down"           shortname="corr_down"     param="IR_CORRECTION_DOWN"/>
-      </dl_settings>
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
-        <dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="10000" MIN="0" STEP="50" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain"/>
-        <dl_setting MAX="15000" MIN="0" STEP="5" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle">
-        <strip_button name="Dash" value="1"/>
-        <strip_button name="Loiter" value="0.5"/>
-        <strip_button name="Cruise" value="0"/>
-      </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
-        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
-	</dl_setting>
-	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-	<dl_setting MAX="0.05" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml
deleted file mode 100644
index 982584f6c5..0000000000
--- a/conf/settings/tuning_infrared.xml
+++ /dev/null
@@ -1,107 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C with IR sensors-->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="ir">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
-
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="20" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
deleted file mode 100644
index 596fc50ac9..0000000000
--- a/conf/settings/tuning_ins.xml
+++ /dev/null
@@ -1,108 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="ins">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN" module="guidance/guidance_v"/>
-        <dl_setting MAX="10" MIN="0.1" STEP="0.1" VAR="v_ctl_altitude_max_climb" shortname="max climb" param="V_CTL_ALTITUDE_MAX_CLIMB"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.05" VAR="v_ctl_altitude_pre_climb_correction" shortname="pre climb cor" param="V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_min_cruise_throttle" shortname="min cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_max_cruise_throttle" shortname="max cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_ins_chimu.xml b/conf/settings/tuning_ins_chimu.xml
deleted file mode 100644
index 2606b28f18..0000000000
--- a/conf/settings/tuning_ins_chimu.xml
+++ /dev/null
@@ -1,105 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="5" MIN="0" STEP="1" VAR="telemetry_mode_Ap_DefaultChannel" shortname="tele_AP" module="firmwares/fixedwing/ap_downlink" values="Default|Minimal|Extremal|Raw|Scaled|DebugIMU"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="telemetry_mode_Fbw_DefaultChannel" shortname="tele_FBW" module="firmwares/fixedwing/fbw_downlink"  values="Default|Debug"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="ins">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="modules/ins/ins_module" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="000" MIN="-25000" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.00" MIN="-0.05" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="-0.1" MIN="-3" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
deleted file mode 100644
index 17d61c9bf4..0000000000
--- a/conf/settings/tuning_ins_dcm.xml
+++ /dev/null
@@ -1,105 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="ins">
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="imu_health" shortname="health" module="subsystems/ahrs" />
-        <dl_setting MAX="100" MIN="0" STEP="1" VAR="renorm_sqrt_count" shortname="err_norm" module="subsystems/ahrs" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_roll_neutral" shortname="roll_neutral" module="subsystems/ahrs" param="INS_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="ins_pitch_neutral" shortname="pitch_neutral" param="INS_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="30" MIN="0" STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
deleted file mode 100644
index ec1a77d63f..0000000000
--- a/conf/settings/tuning_loiter.xml
+++ /dev/null
@@ -1,110 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="infrared">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral"            shortname="roll_neutral"  param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" module="subsystems/sensors/infrared" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral"           shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg"/>
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.lateral_correction"      shortname="lat_corr"      param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1"    VAR="infrared.longitudinal_correction" shortname="log_corr"      param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1"   VAR="infrared.vertical_correction"     shortname="vert_corr"     param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left"           shortname="corr_left"     param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right"          shortname="corr_right"    param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up"             shortname="corr_up"       param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down"           shortname="corr_down"     param="IR_CORRECTION_DOWN"/>
-      </dl_settings>
-
-      <dl_settings NAME="trim">
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_roll_trim" shortname="roll_trim" module="commands" param="COMMAND_ROLL_TRIM"/>
-        <dl_setting MAX="960" MIN="-960" STEP="1" VAR="command_pitch_trim" shortname="pitch_trim" param="COMMAND_PITCH_TRIM"/>
-      </dl_settings>
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/>
-        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml
deleted file mode 100644
index b5092cefdb..0000000000
--- a/conf/settings/tuning_pers.xml
+++ /dev/null
@@ -1,107 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1000" MIN="0" STEP="1" VAR="stage_time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle"/>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps_reset" module="gps_ubx" handler="Reset" shortname="GPS reset"/>
-
-      <dl_setting MAX="200" MIN="-200" STEP="10" VAR="nav_radius" module="subsystems/nav" handler="SetNavRadius">
-        <strip_button icon="circle-right.png" name="Circle right" value="1"/>
-        <strip_button icon="circle-left.png" name="Circle left" value="-1"/>
-        <key_press key="greater" value="1"/>
-        <key_press key="less" value="-1"/>
-      </dl_setting>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="ir">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" param="IR_ROLL_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" persistent="true" />
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" param="IR_PITCH_NEUTRAL_DEFAULT" unit="rad" alt_unit="deg" persistent="true" />
-
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.lateral_correction" shortname="360_lat_corr" module="subsystems/sensors/infrared" param="IR_LATERAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0." STEP="0.1" VAR="infrared.longitudinal_correction" shortname="360_log_corr" param="IR_LONGITUDINAL_CORRECTION"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.vertical_correction" shortname="360_vert_corr" param="IR_VERTICAL_CORRECTION"/>
-
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_left" shortname="corr_left" param="IR_CORRECTION_LEFT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_right" shortname="corr_right" param="IR_CORRECTION_RIGHT"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_up" shortname="corr_up" param="IR_CORRECTION_UP"/>
-        <dl_setting MAX="1.5" MIN="0.5" STEP="0.1" VAR="infrared.correction_down" shortname="corr_down" param="IR_CORRECTION_DOWN"/>
-
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="25000" MIN="000" STEP="250" VAR="h_ctl_roll_pgain" shortname="roll_pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
-        <dl_setting MAX="50000" MIN="0" STEP="10" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain" param="H_CTL_PITCH_DGAIN"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE">
-          <strip_button name="Loiter" value="0.1"/>
-          <strip_button name="Cruise" value="0"/>
-          <strip_button name="Dash" value="1"/>
-        </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-<!-- commented by poine - does anybody use that ?at all ? -->
-<!--        <dl_setting MAX="0" MIN="-4000" STEP="100" VAR="v_ctl_auto_throttle_dash_trim" shortname="dash trim"/> -->
-<!--        <dl_setting MIN="0" MAX="3000" STEP="100" VAR="v_ctl_auto_throttle_loiter_trim" shortname="loiter trim" param="V_CTL_AUTO_THROTTLE_LOITER_TRIM"/> -->
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr" param="V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz" param="V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="auto_pitch">
-        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain" param="H_CTL_COURSE_PGAIN"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain" param="H_CTL_COURSE_DGAIN"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor" param="H_CTL_COURSE_PRE_BANK_CORRECTION"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim" param="NAV_GLIDE_PITCH_TRIM"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="2" MIN="1" STEP="1" VAR="nav_mode"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
-        <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>
diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml
deleted file mode 100644
index 2bf9f895b1..0000000000
--- a/conf/settings/tuning_tp_auto.xml
+++ /dev/null
@@ -1,81 +0,0 @@
-<!DOCTYPE settings SYSTEM "settings.dtd">
-
-<!-- A conf to use to tune a new A/C -->
-
-<settings>
-  <dl_settings>
-    <dl_settings NAME="flight params">
-      <dl_setting MAX="1000" MIN="0" STEP="10" VAR="flight_altitude" shortname="altitude"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_east"/>
-      <dl_setting MAX="10" MIN="-10" STEP="0.5" VAR="wind_north"/>
-    </dl_settings>
-
-    <dl_settings NAME="mode">
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="pprz_mode" module="autopilot"/>
-        <dl_setting MAX="1" MIN="0" STEP="1" VAR="alt_kalman_enabled" shortname="alt_kalman" module="estimator"/>
-      <dl_setting MAX="0" MIN="0" STEP="1" VAR="estimator_flight_time" shortname="flight time"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="launch"/>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle">
-      </dl_setting>
-      <dl_setting MAX="2" MIN="0" STEP="1" VAR="gps.reset" module="subsystems/gps" handler="Reset" shortname="GPS reset"/>
-    </dl_settings>
-
-    <dl_settings NAME="control">
-      <dl_settings NAME="ir">
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.roll_neutral" shortname="roll_neutral" module="infrared" unit="rad" alt_unit="deg"/>
-        <dl_setting MAX="15" MIN="-15" STEP="0.5" VAR="infrared.pitch_neutral" shortname="pitch_neutral" unit="rad" alt_unit="deg"/>
-
-      </dl_settings>
-
-
-      <dl_settings NAME="attitude">
-        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll pgain" module="stabilization/stabilization_attitude"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll dgain"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll"/>
-        <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
-        <dl_setting MAX="2" MIN="0." STEP="0.1" VAR="h_ctl_pitch_dgain" shortname="pitch_dgain"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll"/>
-        <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
-
-
-
-      </dl_settings>
-
-      <dl_settings name="alt">
-        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain"/>
-      </dl_settings>
-
-      <dl_settings name="auto_throttle">
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle">
-        <strip_button name="Dash" value="1"/>
-        <strip_button name="Loiter" value="0.1"/>
-        <strip_button name="Cruise" value="0"/>
-      </dl_setting>
-
-
-        <dl_setting MAX="0.05" MIN="0.00" STEP="0.005" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_pgain"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_igain" shortname="throttle_igain"  module="guidance/guidance_v" handler="SetAutoThrottleIgain"/>
-        <dl_setting MAX="2" MIN="0.0" STEP="0.1" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_dgain"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_climb_throttle_increment" shortname="throttle_incr"/>
-        <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_throttle_pitch_of_vz_pgain" shortname="pitch_of_vz"/>
-        <dl_setting MAX="10" MIN="-10" STEP="0.1" VAR="v_ctl_auto_throttle_pitch_of_vz_dgain" shortname="pitch_of_vz (d)"/>
-      </dl_settings>
-
-      <dl_settings name="nav">
-        <dl_setting MAX="3" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pgain" shortname="course pgain"/>
-        <dl_setting MAX="2" MIN="0" STEP="0.1" VAR="h_ctl_course_dgain" shortname="course dgain"/>
-        <dl_setting MAX="2" MIN="0.1" STEP="0.05" VAR="h_ctl_course_pre_bank_correction" shortname="pre bank cor"/>
-        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="nav_glide_pitch_trim" shortname="glide pitch trim"/>
-        <dl_setting MAX="1" MIN="0.02" STEP="0.01" VAR="h_ctl_roll_slew" shortname="roll slew"/>
-        <dl_setting MAX="500" MIN="-500" STEP="5" VAR="nav_radius"/>
-        <dl_setting MAX="359" MIN="0" STEP="5" VAR="nav_course"/>
-        <dl_setting MAX="5" MIN="-5" STEP="0.5" VAR="nav_climb"/>
-        <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
-	</dl_setting>
-	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-	<dl_setting MAX="0.05" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
-        <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
-      </dl_settings>
-    </dl_settings>
-  </dl_settings>
-</settings>